Ging vin: Nguyn c Hong

B mn iu Khin T ng
Khoa in in T
i Hc Bch Khoa Tp.HCM
Email: ndhoang@hcmut.edu.vn

MN HC

(14 tun = 42 tit LT + 14 tit BT)
Chng 1: Gii thiu v h thng iu khin t ng
Chng 2: M hnh ton hc h thng lin tc
Chng 3: c tnh ng hc
Chng 4: Kho st tnh n nh ca h thng
Chng 5: Cht lng h thng iu khin
Chng 6: Thit k h thng tuyn tnh lin tc
Chng 7: M hnh ton hc h ri rc
Chng 8: Phn tch h ri rc
Chng 9: Thit k h ri rc
Chng 10: ng dng

Gio trnh: L thuyt iu khin t ng
Nguyn Th Phng H Hunh Thi Hong
NXB i Hc Quc Gia TpHCM
Bi tp: Bi tp iu khin t ng
Nguyn Th Phng H
Ti liu:
Automatic Control System
Modern Control System Theory and Design
NH GI TNH N NH
CA H THNG
CHNG 4

4.1 Khi nim n nh
4.2 Cc tiu chun n nh i s
iu kin cn
Tiu chun Routh
Tiu chun Hurwitz
4.3 Phng php qu o nghim s (QNS)
Khi nim QNS
Phng php v QNS
Xt tnh n nh dng QNS
4.4 Tiu chun n nh tn s
Khi nim c tnh tn s
c tnh tn s ca cc khu c bn
c tnh tn s ca h thng t ng

Xt v d

V d

nh ngha n nh BIBO
H thng c gi l n nh BIBO (Bounded Input
Bounded Output) nu ng ra h thng b chn khi ng
vo b chn.
Xt h thng c hm truyn sau

Cc v Zero
m m 1
0 1 m 1 m
n n 1
0 1 n 1 n
b s b s b s b
G(s)
a s a s a s a

+ + + +
=
+ + + +
t
m m 1
0 1 m 1 m
n n 1
0 1 n 1 n
B(s) b s b s b s b
A(s) a s a s a s a

= + + + +
= + + + +
Zero l nghim ca pt B(s) = 0. K hiu: z
i
(i=1m)
Cc l nghim ca pt A(s) = 0. K hiu: p
i
(i=1n)

Gin Cc - Zero
Im
Re
Zero
Cc
Gin Cc Zero l th biu din v tr cc cc v
zero ca h thng trn mt phng phc.

iu kin n nh
Tnh n nh ca h thng ph thuc v tr cc cc
H thng c tt c cc cc vi phn thc m (tt c
cc cc bn tri mp phc): h thng n nh
H thng c cc vi phn thc bng 0, cc cc cn li
c phn thc m: h thng bin gii n nh
H thng c t nht mt cc vi phn thc dng (t
nht mt cc bn phi mp phc) : h thng khng n
nh

V d
Xc nh s n nh ca h thng c cc cc nh sau:
a) -1, -2 e) -2 + j, -2 - j, 2j, -2j
b) -1, +1 f ) 2,-1,-3
c) -3,-2,0 g) -6,-4,7
d) -1 + j, -1- j h) -2 + 3j, -2 -3j, -2

V d

Phng trnh c trng
Phng trnh c trng : A(s) = 0
a thc c trng : A(s)
G(s)
H(s)
R(s) C(s)
+
-
Phng trnh c trng
1 G(s)H(s) 0 + =
x(t) Ax(t) Bu(t)
y(t) Cx(t) Du(t)
= +

= +

Phng trnh c trng

det(Is A) 0 =

iu kin cn
iu kin cn h thng n nh l tt c cc h s
ca PTT phi khc 0 v cng du.
V d h thng c PTT
s
3
+ 2s
2
+ 5s - 1 = 0 : Khng n nh
s
4
+ 3s
2
+ 6s + 1 = 0 : Khng n nh
s
3
+ s
2
+ 4s + 7 = 0 : Cha kt lun

Quy tc lp bng Routh
Cho h thng c PTT sau
n n 1
0 1 n 1 n
a s a s a s a 0

+ + + + =
s
n
c
11
= a
0
c
12
= a
2
c
13
= a
4

s
n-1
c
21
= a
1
c
22
= a
3
c
23
= a
5

3
= c
11
/c
21
s
n-2
c
31
= c
12

3
c
22
c
32
= c
13

3
c
23
c
33
= c
14

3
c
24

4
= c
21
/c
31
s
n-3
c
41
= c
22

4
c
32
c
42
= c
23

4
c
33
c
43
= c
24

4
c
44

n
=
c
n-2,1
/c
n-1,1

s
0

c
n1
=
c
n-2,2

n
c
n-1,2


iu kin cn v h thng n nh l
tt c cc phn t ct 1 bng Routh phi
cng du.
S ln i du ca cc phn t ct 1 bng
Routh bng s nghim khng n nh ca
PTT.

V d 1
Cho h thng c PTT sau
3 2
s s 4s 7 0 + + + =
s
3
1 4
s
2
1 7

3
= 1 s
1
-3 0

4
= -1/3 s
0
7
H thng khng n nh, c 2 cc na phi mp phc

V d 1
Gin cc zero p ng nc
G = tf([1],[1 1 4 7]); pzmap(G); step(G)

V d 2
Cho h thng c PTT sau
3 2
s 2s 4s 7 0 + + + =
s
3
1 4
s
2
2 7

3
= 1/2 s
1
0.5 0

4
= 4 s
0
7
H thng n nh

V d 2
Gin cc zero p ng nc
G = tf([1],[1 2 4 7]); pzmap(G); step(G)
G(s)
H(s)
R(s) C(s)
+
-

V d 3
Tm K h thng vng kn sau n nh
3 2
s 4s 5s 3 K 0 + + + + =
K
H(s)
s 2
=
+
3 2
s 2
G(s)
s 4s 5s 3
+
=
+ + +
PTT ca h thng

V d 3
3 2
s 4s 5s 3 K 0 + + + + =
s
3
1 5
s
2
4 3 + K

3
= 1/4 s
1
5 (3+K)/4 0

4
= 16/(17-K) s
0
3+K
iu kin h thng n nh
5 (3 K) / 4 0
3 K 17
3 K 0
+ >

< <

+ >

V d 3
S Simulink
K = 10 K = 17 K = 30

Cc trng hp c bit
Trng hp 1
Nu h s ct 1 ca hng no ca bng Routh bng
0, cc h s cn li ca hng khc 0, ta thay h s bng
0 ct 1 bi s dng c nh ty , sau qu trnh tnh
ton c tip tc

V d 4
Cho h thng c PTT sau
4 3 2
s 2s 2s 4s 8 0 + + + + =
s
4
1 2 8
s
3
2 4 0

3
= 1/2 s
2

0 8 0
c > 0 8 0

4
= 2/c s
1
4-16/c < 0 0 0
s
0
8 0 0
H thng khng n nh, c 2 cc na phi mp phc

Cc trng hp c bit
Trng hp 2
Nu tt c cc h s ca hng no ca bng Routh
bng 0, ta thc hin nh sau
Thnh lp a thc ph t cc h s ca hng trc
hng c tt c cc h s bng 0, gi a thc l A
0
(s)
Thay hng c tt c cc h s bng 0 bi mt hng khc
c cc h s l h s ca a thc dA
0
(s)/ds, sau qu
trnh tnh ton c tip tc.

V d 5
Cho h thng c PTT sau
5 4 3 2
s s 4s 24s 3s 63 0 + + + + + =
s
5
1 4 3
s
4
1 24 63

3
= 1 s
3
-20 -60 0

4
= -1/20 s
2
21 63 0

5
= -20/21 s
1

0 0 0
42 0 0

5
= 1/2 s
0
63 0 0
H thng khng n nh, c 2 cc na phi mp phc

Ma trn Hurwitz
Cho h thng c PTT sau
n n 1
0 1 n 1 n 0
a s a s a s a 0, a 0

+ + + + = >
1 3 5 7
0 2 4 6
1 3 5
0 2 4
n
a a a a 0
a a a a 0
0 a a a 0
0 a a a 0
0
0 0 0 0 a
(
(
(
(
(
(
(
(

Ma trn Hurwitz c dng sau

iu kin cn v h thng n nh l
tt c cc nh thc con cha ng cho
chnh ma trn Hurwitz phi dng
1 3
1 3
1 1 2 3 0 2
0 2
1 3
a a 0
a a
a 0, 0, a a 0 0,...
a a
0 a a
(
(
(
A = > A = > A = >
(
(

(


V d 6
Cho h thng c PTT sau
3 2
s 2s 4s 7 0 + + + =
H thng n nh
Ma trn Hurwitz
1
2
3
2 7 0 2 0
1 4 0 1 0
0 2 7 7 0
A = >
(

(
A = >

(

A = > (


V d 7 lm li v d 3
H thng c PTT
Ma trn Hurwitz
4 3 K 0
1 5 0
0 4 3 K
+
(
(
(
+ (

3 2
s 4s 5s 3 K 0 + + + + =
1
2
3 2
4 0
17 K 0 K 17 3 K 17
(3 K) 0 K 3
A = >

A = > < < <

A = + A > >

Xt tnh n nh ca cc PTT sau

5 4 3 2
1) s 2s 2s 4s 11s 10 0 + + + + + =
S: Khng n nh vi hai cc nm bn phi mp phc
S: Khng n nh vi mi K
4 3 2
2) s s s s K 0 + + + + =
3) Tm iu kin ca K, a h thng vng kn sau n nh

4) Tm K
P
, K
I
, K
D
h thng vng kn sau n nh
I
P D
K
PID(s) K K s
s
= + +
1
G(s)
s(s 1)
=
+

G(s) PID(s)
R(s) C(s)
+
-
5) Tm iu kin h thng vng kn sau n nh